User Manual

Motor Configurations
Advanced Digital Motor Controller User Manual 305
Where:
cc = Encoder channel
nn = Counter value
EHLA - Encoder High Limit Action
HexCode: 4E
Description:
This parameter lets you select what kind of action should be taken when the high limit
count is reached on the encoder. The list of action is the same as in the DINA digital input
action list Embedded in the parameter is the motor channel(s) to which the action should
apply.
Syntax Serial: ^EHLA cc nn
~EHLA [cc]
Syntax Scripting: setconfig(_EHLA, cc, nn)
Number of Arguments: 2
Argument 1: Channel
Min: 1 Max: Total Number of Encoders
Argument 2: Action
Type: Unsigned 8-bit
Min: 0 Max: 255
Default: 0 = No action
Where:
cc = Encoder channel
aa =
0: No action
1: Safety stop
2: Emergency stop
3: Motor stop
4: Forward limit switch
5: Reverse limit switch
6: Invert direction
7: Run MicroBasic script
8: Load counter with home value
mm = mot1*16 + mot2*32 + mot3*48
EHOME - Encoder Counter Load at Home Position
HexCode: 4F
Description:
Contains a value that will be loaded in the selected encoder counter when a home switch
is detected, or when a Home command is received from the serial/USB, or issued from a
MicroBasic script.